SCIS & ISIS
SCIS & ISIS 2010
Session ID : SA-A4-6
Conference information
Locomotion Generation by Genetic Programming for a Multi-legged Jumping Robot
*Masaaki IkedaKiyotaka IzumiKeigo Watanabe
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Abstract
A mobile robot may move a rough terrain. The leg type is known as a migratory mechanism which moves a rough terrain. Generally three-dimensional obstacle avoidance is possible for a legged robot. However, the scope of the obstacle avoidance of a legged robot receives restriction by the operation range of a leg. Therefore, the robot cannot pass an obstacle higher than itself. So, in this paper, a multi-legged jumping robot with the mechanism which enables the jump of sufficient height is considered. In order to confirm the effectiveness of the jump mechanism in a mobile robot furthermore, the route determination algorithm using the genetic programming is gained, and comparison examination of the fitness to the environment by the existence of a jump mechanism is carried out.
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© 2010 Japan Society for Fuzzy Theory and Intelligent Informatics
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